Real-time software design system for reliable controller with a test phase in design steps.

在研究项目中，主要考虑了两个问题。一是开发了一个具有实时性和高可靠性的软件设计系统VD/RCS。另一个是通过将VD/RCS应用于机器人控制软件，对加工时间和输出偏差进行系统评估。以下1.到4.是本研究成果的总结.逐步放弃和模块化：在第一个设计步骤，软件结构由任务图指定，任务图自然地通过逐步细化来构建。由于任务图中的任务是以多任务的方式通过最后期限调度来执行的，因此我们可以很容易地添加或修改处理，而无需精确估计总处理时间。此外，我们还实现了一个视频功能，它可以显示一个受控对象的运动与同步的软件行为.软件规格说明的可视化：在软件规格说明的一部分中引入了二维或三维图形，实现了图形的可视化输入和输出。此外，基于任务图可视化地表示软件结构。此外，在测试阶段，我们可以直观地分析软件行为通过可视化的模拟.高可靠性：我们提出了一种方法，保证定量的可靠性，其中允许一定的偏差。在该方法中，可以保证在任何数据量都可以接受的情况下，任何偏差都可以得到保证.在机器人控制软件中的应用及评价：在上述研究的基础上，开发了一个具有实时响应和高可靠性的软件设计系统VD/RCS。然后，通过将其应用于机器人控制软件的设计，对系统性能进行了评估。评价结果表明，该控制软件结构合理，满足给定的响应时间和最大偏差要求，为控制软件的实时响应和高可靠性提供了一种设计方法。它可以提高实时软件的生产率和可靠性。

In the research project, two issues are mainly considered. One is development of a software design system VD/RCS which realizes real-time response and high reliability. Another is system evaluations of processing time and output deviation by applying VD/RCS to robot control software. The following 1. through 4. are summary of this research contributions.1. Stepwise relinement and modularity : At the first design step, software structure is specified by a task graph, which is naturally constructed by stepwise refinement. As tasks in the task graph are executed by deadline scheduling in a multi-task manner, we can easily add or modify processing without exact estimation of total processing time. Additionally, we realize a video function which displays motion of a controlled object with synchronized software behavior.2. Visualization of software specification : We newly introduce 2 or 3 dimensional graphs in a part of software specification, and realize their visualized input and output. Moreover, a software structure is visually represented based on the task graph. Furthermore, in a test phase, we can intuitively analyze software behavior by a visualized simulation.3. High reliability : We propose a method which guarantees a quantitative reliability where a certain deviation is permitted. In the method, any deviation can be guaranteed in case that any data size is acceptable.4. Application to robot control software and evaluation : Based on above results, a software design system VD/RCS with real-time response and high reliability is developed. Then, the system performance is evaluated by applying it to designing robot control software. This evaluation shows that the software is well organized, and given response time and maximum deviation are satisfied.This research presents a design method for control software with real-time response and high reliability. It can improves productivity and reliability of real-time software.